Your support means a lot to me and I’m humbled that you chose to trust my vision with this high-performance racing whoop frame.
This page will be the instruction manual on building and tuning your setup so that you may get the most performance out of it.
First of all, if you’re not the reading type, you may rewatch the assembly stream I made on my Facebook page. (Or at least follow me here where I’ll post any update on this setup)
I recommend using the Happymodel DiamondF4 AIO for this build; they are the lightest 1S boards that include an F4 FC, 5A ESC, 200mw VTX and Frsky (or Flysky) Rx on board.
The following Betaflight Diff comes from it, but any other AIO should work just as well, with a reserve on the ports and motor reassignment that may be different on other boards
Just copy and paste into your Betaflight CLI tab (Good for 4.2.11)
# version
# Betaflight / STM32F411 (S411) 4.2.11 Nov 9 2021 / 20:28:23 (948ba6339) MSP API: 1.43
# config: manufacturer_id: HAMO, board_name: CRAZYBEEF4FR, version: a074838b, date: 2021-06-14T21:36:54Z
# start the command batch
batch start
# reset configuration to default settings
defaults nosave
board_name CRAZYBEEF4FR
manufacturer_id HAMO
mcu_id 002500475231501520323039
signature
# name: FRACTAL65
# resources
resource MOTOR 1 B06
resource MOTOR 2 B10
resource MOTOR 3 B08
resource MOTOR 4 B07
# mixer
mixer CUSTOM
mmix 0 1.000 -1.000 0.820 -1.000
mmix 1 1.000 -1.000 -0.820 1.000
mmix 2 1.000 1.000 0.820 1.000
mmix 3 1.000 1.000 -0.820 -1.000
# feature
feature -RX_PARALLEL_PWM
feature -AIRMODE
feature TELEMETRY
feature LED_STRIP
# beeper
beeper -GYRO_CALIBRATED
beeper -DISARMING
beeper -ARMING
beeper -ARMING_GPS_FIX
beeper -GPS_STATUS
beeper -ACC_CALIBRATION
beeper -ACC_CALIBRATION_FAIL
beeper -READY_BEEP
beeper -DISARM_REPEAT
beeper -ARMED
beeper -SYSTEM_INIT
beeper -ON_USB
beeper -BLACKBOX_ERASE
beeper -CAM_CONNECTION_OPEN
beeper -CAM_CONNECTION_CLOSE
beeper -RC_SMOOTHING_INIT_FAIL
# beacon
beacon RX_LOST
beacon RX_SET
# map
map TAER1234
# serial
serial 1 2048 115200 57600 0 115200
# led
led 0 0,0::CO:11
led 1 1,0::CO:11
# aux
aux 0 0 0 1450 2100 0 0
aux 1 1 1 1700 2100 0 0
aux 2 13 2 1700 2100 0 0
aux 3 28 1 900 1300 0 0
aux 4 30 1 1300 2100 0 0
aux 5 35 2 1700 2100 0 0
# adjrange
adjrange 0 0 1 900 2100 12 1 0 0
# vtxtable
vtxtable bands 5
vtxtable channels 8
vtxtable band 1 BOSCAM_A A FACTORY 5865 5845 5825 5805 5785 5765 5745 5725
vtxtable band 2 BOSCAM_B B FACTORY 5733 5752 5771 5790 5809 5828 5847 5866
vtxtable band 3 BOSCAM_E E FACTORY 5705 5685 5665 0 5885 5905 0 0
vtxtable band 4 FATSHARK F FACTORY 5740 5760 5780 5800 5820 5840 5860 5880
vtxtable band 5 RACEBAND R FACTORY 5658 5695 5732 5769 5806 5843 5880 5917
vtxtable powerlevels 3
vtxtable powervalues 0 1 2
vtxtable powerlabels 25 100 200
# master
set gyro_lowpass_hz = 0
set gyro_lowpass2_hz = 0
set dyn_notch_width_percent = 0
set dyn_notch_q = 250
set dyn_notch_min_hz = 125
set dyn_notch_max_hz = 350
set dyn_lpf_gyro_min_hz = 0
set dyn_lpf_gyro_max_hz = 1000
set acc_calibration = 10,-19,23,1
set mag_hardware = NONE
set baro_hardware = NONE
set rc_smoothing_derivative_type = PT1
set rc_smoothing_auto_smoothness = 7
set fpv_mix_degrees = 35
set rx_spi_protocol = FRSKY_D
set dshot_idle_value = 450
set dshot_bidir = ON
set motor_pwm_protocol = DSHOT300
set motor_poles = 12
set failsafe_delay = 8
set align_board_roll = 180
set align_board_yaw = 180
set bat_capacity = 300
set vbat_max_cell_voltage = 450
set vbat_min_cell_voltage = 300
set vbat_warning_cell_voltage = 320
set vbat_scale = 114
set ibata_scale = 1175
set beeper_dshot_beacon_tone = 3
set yaw_motors_reversed = ON
set small_angle = 180
set runaway_takeoff_prevention = OFF
set thrust_linear = 25
set osd_vbat_pos = 2433
set osd_rssi_pos = 2074
set osd_tim_2_pos = 2454
set osd_flymode_pos = 2444
set osd_throttle_pos = 2401
set osd_vtx_channel_pos = 2081
set osd_mah_drawn_pos = 2423
set osd_craft_name_pos = 2059
set osd_warnings_pos = 14505
set osd_disarmed_pos = 2347
set osd_flip_arrow_pos = 2287
set vtx_band = 5
set vtx_channel = 7
set vtx_power = 3
set vtx_low_power_disarm = UNTIL_FIRST_ARM
set vtx_freq = 5880
set frsky_spi_tx_id = 123,68
set frsky_spi_offset = -36
set frsky_spi_bind_hop_data = 0,30,60,91,120,150,180,210,5,35,65,95,125,155,185,215,10,40,70,100,130,160,190,221,15,45,75,105,135,165,195,225,20,50,80,110,140,170,200,230,25,55,85,115,145,175,205,152,205,0
set gyro_1_align_yaw = 900
set gyro_rpm_notch_q = 700
set name = FRACTAL65
profile 0
# profile 0
set dyn_lpf_dterm_min_hz = 119
set dyn_lpf_dterm_max_hz = 289
set dyn_lpf_dterm_curve_expo = 7
set dterm_lowpass2_hz = 255
set vbat_sag_compensation = 100
set anti_gravity_gain = 5000
set crash_recovery = ON
set iterm_relax_cutoff = 20
set throttle_boost = 7
set throttle_boost_cutoff = 25
set p_pitch = 90
set i_pitch = 75
set d_pitch = 90
set f_pitch = 190
set p_roll = 90
set i_roll = 75
set d_roll = 80
set f_roll = 180
set p_yaw = 120
set i_yaw = 75
set f_yaw = 180
set angle_level_strength = 70
set horizon_level_strength = 60
set level_limit = 85
set d_min_roll = 50
set d_min_pitch = 50
set ff_spike_limit = 70
set ff_smooth_factor = 20
set idle_min_rpm = 28
profile 1
profile 2
# restore original profile selection
profile 0
rateprofile 0
# rateprofile 0
set rates_type = ACTUAL
set roll_rc_rate = 10
set pitch_rc_rate = 10
set yaw_rc_rate = 10
set roll_expo = 54
set pitch_expo = 54
set yaw_expo = 54
set roll_srate = 100
set pitch_srate = 100
set yaw_srate = 80
rateprofile 1
# rateprofile 1
set rates_type = ACTUAL
set roll_rc_rate = 10
set pitch_rc_rate = 10
set yaw_rc_rate = 10
set roll_expo = 54
set pitch_expo = 54
set roll_srate = 100
set pitch_srate = 100
rateprofile 2
# rateprofile 2
set rates_type = ACTUAL
set roll_rc_rate = 10
set pitch_rc_rate = 10
set yaw_rc_rate = 70
set roll_expo = 54
set pitch_expo = 54
set roll_srate = 100
set pitch_srate = 100
rateprofile 3
rateprofile 4
rateprofile 5
# restore original rateprofile selection
rateprofile 0
# save configuration
save
For a factory build look, you may also replace the boot logo with the Fractal one, it will definitely make your whoop fly faster although I don’t guarantee it 😉
To change it go to OSD > Font, choose “Impact mini” then load the .bmp image below and click upload font
For the ESC firmware, I recommend BlueJay; a great development branch with cutting edge features including bidirectional Dshot, enabling RPM filtering
I recommend setting this up after dropping the DIFF in betaflight that will reassign the motors
You may chose between 48 or 96kHz PWM; the latter offering a smoother high end at the expense of lower thrust in the low end, but better efficiency overall; and vice versa for the former.
Motor direction should be good for your build too if you wire your motors straight to each phase in order
The only important setup is to change the timing to medium-high.
Increasing the beep & beacon strength is also recommended if you want to hear it better, and I lowered my timing to 2mins so that I can find it faster
The camera and battery holder are 3D printed, so I’m including the model files if you ever want to print spares or use the .step to make your own modifications to it!